Simulation 3D Ray Tracer

Hit locations, returned as a real-valued N(B+1)-by-3 array of the form [X, Y, Z], in meters. N is the number of rays and B is the number of bounces per ray.

If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the 3D visualization engine coordinate system, where:

Data Types: double

Ray normal to the hit location, returned as a real-valued N(B+1)-by-3 array of the form [X, Y, Z], in meters. N is the number of rays and B is the number of bounces per ray.

If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the 3D visualization engine coordinate system, where:

Data Types: double

Ray distance to hit location, returned as a real-valued N(B+1)-by-1 vector N, in meters. N is the number of rays and B is the number of bounces per ray.

Data Types: double

Object identifier of the surfaces hit by the ray, returned as an integer-valued N(B+1)-by-1 vector N. N is the number of rays and B is the number of bounces per ray.

The returned surface identifiers are the object values specified when creating custom surfaces in the Unreal^® Editor. If a surface identifier is unknown, the block assigns it an ID of 0. For information about adding surfaces, see Add a Surface Type in the Unreal Engine documentation.

Data Types: uint8

Hit flag, returned as a N-by-1 Boolean vector. N is the number of rays. A value of 1 indicates the ray hit a surface.

Data Types: Boolean

Specify the unique identifier of the sensor. In a multisensor system, the sensor identifier enables you to distinguish between sensors. When you add a new sensor block to your model, the Sensor identifier of that block is N + 1, where N is the highest Sensor identifier value among the existing sensor blocks in the model.

Example: 2

Name of parent to which the sensor is mounted, specified as the name of a vehicle in your model, or Scene Origin. The vehicle names that you can select correspond to the Name parameters of the simulation 3D vehicle blocks in your model.

Sensor mounting location.

Roll, pitch, and yaw are clockwise-positive when looking in the positive direction of the X-axis, Y-axis, and Z-axis, respectively. When looking at a vehicle from above, the yaw angle (the orientation angle) is counterclockwise-positive because you are looking in the negative direction of the axis.

Select this parameter to specify an offset from the mounting location by using the Relative translation [X, Y, Z] (m) and Relative rotation [Roll, Pitch, Yaw] (deg) parameters.

Translation offset relative to the mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [X, Y, Z], in meters.

If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the vehicle coordinate system, where:

The origin is the mounting location specified in the Mounting location parameter. This origin is different from the vehicle origin, which is the geometric center of the vehicle.

If you mount the sensor to the scene origin by setting Parent name to Scene Origin, then X, Y, and Z are in the world coordinates of the scene.

For more details about the vehicle and world coordinate systems, see Coordinate Systems in Vehicle Dynamics Blockset.

Example: [0,0,0.01]

Dependencies

To enable this parameter, select Specify offset.

Rotational offset relative to the mounting location of the sensor, specified as a real-valued 1-by-3 vector of the form [Roll, Pitch, Yaw], in degrees. Roll, pitch, and yaw are the angles of rotation about the X-, Y-, and Z-axes, respectively.

If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the vehicle coordinate system, where:

The origin is the mounting location specified in the Mounting location parameter. This origin is different from the vehicle origin, which is the geometric center of the vehicle.

If you mount the sensor to the scene origin by setting Parent name to Scene Origin, then X, Y, and Z are in the world coordinates of the scene.

For more details about the vehicle and world coordinate systems, see Coordinate Systems in Vehicle Dynamics Blockset.

Example: [0,0,10]

Dependencies

To enable this parameter, select Specify offset.

Ray origin relative to sensor mounting location, specified as a real-valued N-by-3 array of the form [X, Y, Z], in meters. N is the number of rays.

If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the 3D visualization engine coordinate system, where:

Example: zeros(10,3)

Normalized ray direction relative to sensor mounting location, specified as a real-valued N-by-3 array of the form [X, Y, Z]. N is the number of rays. The units are dimensionless.

If you mount the sensor to a vehicle by setting Parent name to the name of that vehicle, then X, Y, and Z are in the 3D visualization engine coordinate system, where:

Example: ones(10,3)

Maximum total ray length of a multi-bounce trace path, specified as a real-valued N-by-1 vector, in meters. N is the number of rays.

Example: ones(10,1)*10

Number of bounces that a trace may have before terminating, B, specified as an integer.

Example: 0

Whether to enable Unreal Engine trace line visualization for the ray tracer.

Whether to enable optimization of the ray tracer. Enabling this parameter allows the block to perform concurrent traces. Enable this parameter when the number of traces is large and your machine has multiple cores.

Sample time of the block, in seconds, specified as a positive scalar. The 3D simulation environment frame rate is the inverse of the sample time.

If you set the sample time to -1, the block inherits its sample time from the Simulation 3D Scene Configuration block.